Abstract
AbstractIn this paper, a formation control method is presented based on distributed control strategy and artificial potential field (APF) obstacle avoidance method. The distributed control strategy is used to design the formation control protocol to maintain the UAVs moving in an expected formation with desired distance and geometry. Besides, the APF method is employed to design the strategy to guide the UAV formation detour the obstacles and reach the destination. In this method, the whole UAV formation is regarded as an integrated one and a strategy is designed to make the UAV group escape the local minimum trap of APF. Simulation result demonstrates that the presented method is effective for UAV formation control and obstacle avoidance.KeywordsMultiple UAVsFormation controlArtificial potential fieldObstacle avoidance
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